Miniaturization of cameras and LiDAR sensors has enabled the development of wearable 3D mapping systems for emergency responders. These systems have the potential to revolutionize response capabilities by providing real-time, high-fidelity maps of dynamic and hazardous environments. We present our recent efforts towards the development of such ultra-portable 3D mapping systems. We review four different sensor configurations, either helmet-mounted or body-worn, with two different mapping algorithms that were implemented and evaluated during field trials. The paper discusses the experimental results with the aim to stimulate further discussion within the portable 3D mapping research community.

翻译：摄像头与LiDAR传感器的小型化推动了面向应急响应人员的可穿戴式三维测绘系统的发展。此类系统通过提供动态危险环境的实时高保真地图，有望彻底改变应急响应能力。本文介绍了我们在此类超便携式三维测绘系统开发方面取得的最新进展。我们综述了四种不同的传感器配置方案（包括头盔安装式与穿戴式），并基于两种不同的建图算法在现场试验中进行了实现与评估。本文对实验结果进行了分析讨论，旨在推动便携式三维测绘研究领域的进一步探讨。